Bipedal Robot Simulation And Performance Ptimization

Biped robot research, promoting the integration of mechanical, control, communicationand computer technology, is a complex mechatronics research。This paper focus on theperformance optimization of biped robot and the main work of paper is list as following.First this paper introduces a brief overview of the history and current status of researchboth at home and abroad, and proposes some common problem of biped robot research. Tosolve the problem, this paper gives a solution, searching the best walking parameters.Secondly, with the help of the robot ASIMO developed by Honda and Statistics data ofhuman, this paper gives a mechanical design scheme of the biped robot, and then builds3Dmodel in CATIA.Thirdly, concerning with the structural and walking characteristics of biped robot, basedon inverted pendulum theory, the position of each robot joint curve is planned by MATLAB.Fourthly, a co-simulation method of MATLAB and ADAMS is described.Finally, Using the method mentioned above, performance optimization of biped robotbased on genetic algorithm is achieved.The most important part of the whole work in this paper is to search the best walkingparameters of biped robot. For the difficulty of trading every target the same when the rangesof the targets are badly different, how to design the fitness function for multiply target geneticalgorithm is the most difficult and also the most important part in this paper. In this paper wepropose a new design method of fitness, and in the end we have gotten the best walkingparameters. Simulation results show that stability and energy performance get obviousimprovement. So it proves our method is useful.